Revision 0:5887cb744114, committed 2017-12-04

Comitter:

nnguyen45

Date:

Mon Dec 04 19:58:40 2017 +0000

Child:

1:f3d363ca2343

Commit message:

Working read code

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem.lib	Mon Dec 04 19:58:40 2017 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/mbed_official/code/SDFileSystem/#8db0d3b02cec

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/button.cpp	Mon Dec 04 19:58:40 2017 +0000
@@ -0,0 +1,170 @@
+#include "mbed.h"
+#include "button.h"
+#include "emic2.h"
+
+//emic2 myTTS(p28, p27); //serial RX,TX pins to emic
+DigitalOut led4(LED4);
+DigitalOut led3(LED3);
+DigitalOut led2(LED2);
+
+// button constructor
+button::button(PwmOut servo, DigitalIn pb, int id)
+    : servo(servo), pb(pb), state(0), press(0), id(id) {}
+/*button::button(PwmOut servo, DigitalIn pb, AnalogIn lp)
+    : servo(servo), pb(pb), linpot(lp), press(0), state(0) {}
+*/
+//Serial pc(USBTX, USBRX);
+
+// FUNCTIONS
+
+// get servo pin
+PwmOut button::getServoPin()
+{
+    return servo;
+}
+
+// get servo pin
+void button::setState(int mystate)
+{
+    state = mystate;
+}
+
+void button::setPress(int mypress)
+{
+    press = mypress;
+}
+
+// get servo pin
+/*void button::setMode(int mymode)
+{
+    mode = mymode;
+}*/
+
+// get current state of the button
+int button::getState()
+{
+    return state;
+}
+
+int button::getID()
+{
+    return id;
+}
+
+
+int button::getPress()
+{
+    //pc.printf("%d", press);
+    return press;
+}
+
+// get current state of the button
+int button::getLp()
+{
+    /*    if (linpot < 2)
+            return 1;
+        else*/
+    return 0;
+}
+
+// move servo into the slot
+void button::moveServoIn()
+{
+    //myled = 1;
+    // rotate 90 degrees one way
+    for(int i=4; i<=7; i++) {
+        servo = i/100.0;
+        wait(0.01);
+    }
+    //press = 1;
+    switch (id) {
+        case 1:
+            led2 = 0;
+            led3 = 0;
+            led4 = 1;
+            break;
+        case 2:
+            led2 = 0;
+            led3 = 1;
+            led4 = 0;
+            break;
+        case 3:
+            led2 = 0;
+            led3 = 1;
+            led4 = 1;
+            break;
+        case 4:
+            led2 = 1;
+            led3 = 0;
+            led4 = 0;
+            break;
+        case 5:
+            led2 = 1;
+            led3 = 0;
+            led4 = 1;
+            break;
+        case 6:
+            led2 = 1;
+            led3 = 1;
+            led4 = 0;
+            break;
+    }
+}
+
+// move servo out of the slot
+void button::moveServoOut()
+{
+    //myled = 0;
+    for(int i=7; i>4; i--) {
+        servo = i/100.0;
+        wait(0.01);
+    }
+    led2 = 0;
+    led3 = 0;
+    led4 = 0;
+}
+
+int button::updateState()
+{
+    //myled = 0;
+    // state 0 - button is up, pb = 0
+    if (pb == 0 && state == 3) {
+        // nothing happens here, servo is still
+        state = 0;
+    }
+    // state 1 - button is moving down, pb = 1
+    if (pb == 1 && state == 0) {
+        moveServoIn();
+        state = 1;
+        press = 1;
+
+        // Speaker says stuff
+        /*myTTS.volume(18); //max volume
+        myTTS.speakf("S");//Speak command starts with "S"
+        myTTS.speakf("Hey, you pressed a pin!");  // Send the desired string to convert to speech
+        myTTS.speakf("\r"); //marks end of speak command*/
+    }
+    // state 2 - button is down, pb = 0
+    if (pb == 0 && state == 1) {
+        // nothing happens here, servo is still
+        state = 2;
+    }
+    // state 3 - button is moving up, pb = 1
+    if (pb == 1 && state == 2) {
+        moveServoOut();
+        state = 3;
+        press = 0;
+    }
+    // state 4 - handle debouncing while button is down
+    /*if (pb1 = 1 && state == 2) {
+        count++;
+    }*/
+    return state;
+}
+
+void button::setup() {
+    for(int i=0; i<=4; i++) {
+        servo = i/100.0;
+        wait(0.01);
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/button.h	Mon Dec 04 19:58:40 2017 +0000
@@ -0,0 +1,42 @@
+#include "mbed.h"
+
+#ifndef BUTTON_H
+#define BUTTON_H
+
+// This is a button class for our custom button
+class button {
+
+// pins connected to the button
+private:
+    PwmOut servo;
+    DigitalIn pb;
+    int state; // where is the button (0 - 4)
+    int press; // is the button up or down
+    int id;    // this is the ID, each button should have a unique id
+    // int mode; // is the system in reading or typing mode
+    //AnalogIn linpot;
+
+public:
+    // constructors
+    button(); // Default
+    button(PwmOut servo, DigitalIn pb, int id);
+    //button(PwmOut servo, DigitalIn pb, AnalogIn linpot);
+
+    // button(PwmOut servo, DigitalIn pb, AnalogIn linpot);
+    // functions
+    PwmOut getServoPin(); // get the servo pin
+    //void setState(int state); // set state
+    //void setMode(int mode); // set mode
+    void setState(int);     // set what state the button is in - up or down
+    void setPress(int);     // set the button press
+    void moveServoIn();   // move servo into the slot
+    void moveServoOut();  // move servo out of the slot
+    int getID();
+    int updateState();
+    int getState();
+    int getPress();
+    int getLp();
+    void setup();
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/buttonArray.cpp	Mon Dec 04 19:58:40 2017 +0000
@@ -0,0 +1,158 @@
+#include "mbed.h"
+#include "buttonArray.h"
+
+// type mode
+
+// buttonArray constructor
+buttonArray::buttonArray(button b1, button b2, button b3, button b4, button b5, button b6)
+    : button1(b1), button2(b2), button3(b3), button4(b4), button5(b5), button6(b6) {}
+
+//Serial pc(USBTX, USBRX);
+
+// FUNCTIONS
+
+// map input braille to ascii
+// braille respresentation here - https://en.wikipedia.org/wiki/Braille_ASCII
+char buttonArray::checkVal(char* braille)
+{
+    //pc.printf(" checkVal \n");
+    //char* braille;
+    char val = 'K';
+    /*int test = button1.getPress();
+    sprintf(braille, "%d%d%d%d%d%d", test, button2.getPress(),
+            button3.getPress(), button4.getPress(), button5.getPress(), button6.getPress());*/
+    //pc.printf(" %s \n", braille);
+    if (strcmp(braille, "000000") == 0) val = 'X';
+    if (strcmp(braille, "011111") == 0) val = 'A';
+    if (strcmp(braille, "001111") == 0) val = 'B';
+    if (strcmp(braille, "011011") == 0) val = 'C';
+    if (strcmp(braille, "011001") == 0) val = 'D';
+    if (strcmp(braille, "011101") == 0) val = 'E';
+    if (strcmp(braille, "001011") == 0) val = 'F';
+    if (strcmp(braille, "001001") == 0) val = 'G';
+    if (strcmp(braille, "001101") == 0) val = 'H';
+    if (strcmp(braille, "101101") == 0) val = 'I';
+    if (strcmp(braille, "101001") == 0) val = 'J';
+    if (strcmp(braille, "010011") == 0) val = 'M';
+    if (strcmp(braille, "010101") == 0) val = 'O';
+    /*if (strcmp(braille, "011111") == 0) val = 'K';
+    if (strcmp(braille, "011111") == 0) val = 'L';
+    if (strcmp(braille, "011111") == 0) val = 'N';
+    if (strcmp(braille, "011111") == 0) val = 'P';
+    if (strcmp(braille, "011111") == 0) val = 'Q';
+    if (strcmp(braille, "011111") == 0) val = 'R';
+    if (strcmp(braille, "011111") == 0) val = 'S';
+    if (strcmp(braille, "011111") == 0) val = 'T';
+    if (strcmp(braille, "011111") == 0) val = 'U';
+    if (strcmp(braille, "011111") == 0) val = 'V';
+    if (strcmp(braille, "011111") == 0) val = 'W';
+    if (strcmp(braille, "011111") == 0) val = 'X';
+    if (strcmp(braille, "011111") == 0) val = 'Y';
+    if (strcmp(braille, "011111") == 0) val = 'Z';*/
+    // check if reset
+    if (strcmp(braille, "111111") == 0) val = 'Z';
+    //pc.printf(" %c \n", val);
+    return val;
+}
+
+// get braille represention of char
+char* buttonArray::getBraille(char val)
+{
+    char* braille;
+    if (val == 'A') braille = "011111";
+    if (val == 'X') braille = "000000";
+    if (val == 'Z') braille = "111111";
+    if (val == 'M') braille = "010011";
+    if (val == 'O') braille = "010101";
+    if (val == 'K') braille = "100000";
+    // check if reset
+    if (val == ' ') braille = "111111";
+    return braille;
+}
+
+// return an array of which pins need to be up
+int* buttonArray::pinsUp(char val)
+{
+    int* pinsup;
+    //pinsup = new int[7];
+    char* braille = getBraille(val);
+    int j = 1;
+    for (int i = 0; i < 6; i++) {
+        if (braille[i] == '0') {
+            pinsup[j] = i+1;
+            j++;
+        }
+    }
+    // record size of array in the first element
+    pinsup[0] = j;
+    return pinsup;
+}
+
+// return feedback on which pins need to be corrected
+// takes in current and actual char as input and returns status of each char
+int* buttonArray::wrongPins(char* inarr, char actual)
+{
+    // TODO check initial value of wrong
+    int* wrong;
+    wrong = new int[7];
+    char* actarr = getBraille(actual);
+    //pc.printf("wrong pins");
+    int j = 1;
+    for (int i = 0; i < 6; i++) {
+        if(inarr[i] != actarr[i]) {
+            wrong[j] = i+1;
+            //pc.printf("%d ", wrong[j]);
+            j++;
+        }
+    }
+    // record size of array in the first element
+    wrong[0] = j;
+    return wrong;
+}
+
+// release buttons
+void buttonArray::releaseButtons()
+{
+    if (button1.getPress()) {
+        button1.moveServoOut();
+        button1.setState(3);
+        button1.setPress(0);
+    }
+    if (button2.getPress()) {
+        button2.moveServoOut();
+        button2.setState(3);
+        button2.setPress(0);
+    }
+    if (button3.getPress()) {
+        button3.moveServoOut();
+        button3.setState(3);
+        button3.setPress(0);
+    }
+    if (button4.getPress()) {
+        button4.moveServoOut();
+        button4.setState(3);
+        button4.setPress(0);
+    }
+    if (button5.getPress()) {
+        button5.moveServoOut();
+        button5.setState(3);
+        button5.setPress(0);
+    }
+    if (button6.getPress()) {
+        button6.moveServoOut();
+        button6.setState(3);
+        button6.setPress(0);
+    }
+}
+
+void buttonArray::setup()
+{
+    // servos begin at 30 degrees
+    // replace with a button setup function
+    button1.setup();
+    button2.setup();
+    button3.setup();
+    button4.setup();
+    button5.setup();
+    button6.setup();
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/buttonArray.h	Mon Dec 04 19:58:40 2017 +0000
@@ -0,0 +1,29 @@
+#include "mbed.h"
+#include "button.h"
+
+// This is a button class for our custom button
+class buttonArray {
+
+// buttons
+private:
+// 6 buttons here 
+    button button1;
+    button button2;
+    button button3;
+    button button4;
+    button button5;
+    button button6;
+    int currVal;
+    
+public:
+    // constructors
+    buttonArray(); // Default
+    buttonArray(button button1, button button2, button button3, button button4, button button5, button button6);
+    // functions
+    int* wrongPins(char* input, char actual);
+    char checkVal(char* braille); // return buttons ascii representation
+    void releaseButtons();// release all buttons;
+    int* pinsUp(char val);    
+    char* getBraille(char val);
+    void setup();
+};
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/emic2.lib	Mon Dec 04 19:58:40 2017 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/4180_1/code/emic2/#b95ede38e19d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Dec 04 19:58:40 2017 +0000
@@ -0,0 +1,328 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "SDFileSystem.h"
+#include "button.h"
+#include "buttonArray.h"
+#include <string>
+#include <iostream>
+#include "emic2.h"
+
+using namespace std;
+
+// DEFINE I/O
+PwmOut myservo(p21);
+DigitalIn pb1 (p20);
+PwmOut myservo2(p22);
+DigitalIn pb2 (p19);
+PwmOut myservo3(p23);
+DigitalIn pb3 (p18);
+PwmOut myservo4(p24);
+DigitalIn pb4 (p17);
+PwmOut myservo5(p25);
+DigitalIn pb5 (p16);
+PwmOut myservo6(p26);
+DigitalIn pb6 (p15);
+
+Serial pc(USBTX, USBRX);
+SDFileSystem sd(p5, p6, p7, p8, "sd"); //SD card
+button button1(myservo, pb1, 1);
+button button2(myservo2, pb2, 2);
+button button3(myservo3, pb3, 3);
+button button4(myservo4, pb4, 4);
+button button5(myservo5, pb5, 5);
+button button6(myservo6, pb6, 6);
+
+buttonArray buttonarr(button1, button2, button3, button4, button5, button6);
+
+emic2 myTTS(p28, p27); //serial RX,TX pins to emic
+
+// INITIALIZE VARIABLES
+// add mode, reset buttons
+int start = 0;
+int submit = 0;
+// Buttons begins in up state
+int state = 0;
+int state2 = 0;
+int state3 = 0;
+int state4 = 0;
+int state5 = 0;
+int state6 = 0;
+int count = 0;
+
+// THREADS
+void button_thread()
+{
+    while(true) {
+        state = button1.updateState();
+        state6 = button6.updateState();
+        Thread::wait(100); // wait till thread is done
+    }
+}
+
+void button2_thread()
+{
+    while(true) {
+        state2 = button2.updateState();
+        Thread::wait(200); // wait till thread is done
+    }
+}
+
+void button3_thread()
+{
+    while(true) {
+        state3 = button3.updateState();
+        Thread::wait(200); // wait till thread is done
+    }
+}
+
+void button4_thread()
+{
+    while(true) {
+        state4 = button4.updateState();
+        Thread::wait(200); // wait till thread is done
+    }
+}
+
+void button5_thread()
+{
+    while(true) {
+        state5 = button5.updateState();
+        Thread::wait(200); // wait till thread is done
+    }
+}
+
+void button6_thread()
+{
+    while(true) {
+        state6 = button6.updateState();
+        Thread::wait(200); // wait till thread is done
+    }
+}
+
+void submit_thread()
+{
+    Thread::wait(500); // wait till thread is done
+}
+
+void start_thread()
+{
+    start = 1;
+    Thread::wait(500); // wait till thread is done
+}
+
+int main()
+{
+    // SETUP; pull up the pushbutton to prevent bouncing
+    pb1.mode(PullUp);
+    pb2.mode(PullUp);
+    pb3.mode(PullUp);
+    pb4.mode(PullUp);
+    pb5.mode(PullUp);
+    pb6.mode(PullUp);
+    wait(.001);
+
+    // servo setup up function; servos begin at 30 degrees
+    buttonarr.setup();
+
+    // PARSE INPUT FILE FOR LETTERS AND WORDS
+    char delimiter = ',';
+    string letter[2];
+    string word[2];
+    char check;
+    string temp;
+    string tempword = "";
+    int counter = 0;
+    FILE *fp = fopen("/sd/plan.txt", "r"); //create file
+    check = fgetc(fp); //grabs a char from file
+    while(check != '\n') {  //while not at the end of line for letters
+        if((check == delimiter) && (temp.length() == 1)) {  //at a comma and have a letter stored
+            letter[counter] = temp; //write letter
+            counter = counter + 1;  //increment counter
+        } else {
+            temp = check;   //store letter
+        }
+        check = fgetc(fp);  //grabs next char
+    }
+    counter = 0;    //reset counter
+    check = fgetc(fp);  //grabs next char
+    while(!feof(fp)) {  //while not at the end of line for words
+        if(check == delimiter) {  //when at the comma at the end of a word
+            word[counter] = tempword;   //write word
+            tempword = "";
+            counter = counter + 1;  //increment counter
+        } else {
+            tempword = tempword + check;    //concatenate letters to build word
+        }
+        check = fgetc(fp);  //grabs next char
+    }
+    fclose(fp); //close file
+    
+    //INITIALIZE THREADS
+    Thread t1(button_thread);
+    Thread t2(button2_thread);
+    Thread t3(button3_thread);
+    Thread t4(button4_thread);
+    Thread t5(button5_thread);
+    t1.start(button_thread);
+    t2.start(button2_thread);
+    t3.start(button3_thread);
+    t4.start(button4_thread);
+    t5.start(button5_thread);
+
+    char currletter;
+    int lettersize = sizeof(letter)/sizeof(letter[0]);
+    int type = 0;
+
+    //TEXT-TO-SPEECH LOGIC
+    myTTS.volume(1); //max volume is 18
+    myTTS.voice(2);
+
+    char* braille;
+    char userinput;
+
+    // INITIAL RESET
+    if (type == 0) {
+        int reset = 1;
+        myTTS.speakf("SWelcome to Bat, the Braille Assistive Teacher. This device will help you learn how to write and type braille. Please setup the device by pressing down all the buttons.\r");
+        myTTS.ready(); //ready waits for speech to finish from last command with a ":" response
+        while(reset == 1) {
+            wait(3);
+            sprintf(braille, "%d%d%d%d%d%d", button1.getPress(), button2.getPress(),
+                    button3.getPress(), button4.getPress(), button5.getPress(), button6.getPress());
+            userinput = buttonarr.checkVal(braille);
+            if(userinput == 'Z') {
+                reset = 0;
+            } else {
+                myTTS.speakf("SSetup failed. Please try again.\r");
+                myTTS.ready(); //ready waits for speech to finish from last command with a ":" response
+            }
+        }
+    }
+
+    for(int i = 0; i < lettersize; i++) {  //iterate through the letter array
+        char currletter = letter[i][0];
+        int* pinsup = buttonarr.pinsUp(currletter);
+        int currpress;
+        int numpinsups = pinsup[0];  // size of array is first element of pinsup
+        string presspin = "STo write the letter ";
+        presspin = presspin + letter[i];
+        presspin = presspin + ", press buttons";
+
+        for (int j = 1; j < numpinsups; j++) {  // get what pins to press
+            currpress = pinsup[j];
+            switch (currpress) {
+                case 1:
+                    presspin = presspin + " 1,";
+                    break;
+                case 2:
+                    presspin = presspin + " 2,";
+                    break;
+                case 3:
+                    presspin = presspin + " 3,";
+                    break;
+                case 4:
+                    presspin = presspin + " 4,";
+                    break;
+                case 5:
+                    presspin = presspin + " 5,";
+                    break;
+                case 6:
+                    presspin = presspin + " 6,";
+                    break;
+            }
+        }
+        myTTS.speakf("%s\r",presspin);
+        myTTS.ready(); //ready waits for speech to finish from last command with a ":" response
+        wait(2);
+
+        char* braille;
+        char userinput;
+        char* oldbraille;
+        if (type == 0) {
+            sprintf(braille, "%d%d%d%d%d%d", button1.getPress(), button2.getPress(),
+                    button3.getPress(), button4.getPress(), button5.getPress(), button6.getPress());
+            userinput = buttonarr.checkVal(braille);
+        } else {
+            // TYPE MODE
+            sprintf(braille, "%d%d%d%d%d%d", !button1.getPress(), !button2.getPress(),
+                    !button3.getPress(), !button4.getPress(), !button5.getPress(), !button6.getPress());
+            userinput = buttonarr.checkVal(braille);
+            oldbraille = braille;
+        }
+
+        int currwrong;
+        string wrongpin;
+        // check result
+        pc.printf("\n %c %c", userinput, currletter);
+        int* wrongpins = buttonarr.wrongPins(braille, currletter);
+        int test = 1;
+        while(test == 1) {
+            wrongpin = "SYour answer is incorrect. Buttons";
+            for (int j = 1; j < wrongpins[0]; j++) {  // get what pins are wrong
+                currwrong = wrongpins[j];
+                switch (currwrong) {
+                    case 1:
+                        wrongpin = wrongpin + " 1,";
+                        break;
+                    case 2:
+                        wrongpin = wrongpin + " 2,";
+                        break;
+                    case 3:
+                        wrongpin = wrongpin + " 3,";
+                        break;
+                    case 4:
+                        wrongpin = wrongpin + " 4,";
+                        break;
+                    case 5:
+                        wrongpin = wrongpin + " 5,";
+                        break;
+                    case 6:
+                        wrongpin = wrongpin + " 6,";
+                        break;
+                }
+            }
+            if (wrongpins[0] > 1) {
+                wrongpin = wrongpin + " are wrong. Please try again.";
+                myTTS.speakf("%s\r",wrongpin);
+                myTTS.ready(); //ready waits for speech to finish from last command with a ":" response
+                wait(2);
+                //UPDATE THE PINS THAT ARE WRONG BY CHECKING AGAIN BELOW
+                sprintf(braille, "%d%d%d%d%d%d", button1.getPress(), button2.getPress(),
+                button3.getPress(), button4.getPress(), button5.getPress(), button6.getPress());
+                userinput = buttonarr.checkVal(braille);
+                
+                // check result
+                wrongpins = buttonarr.wrongPins(braille, currletter);
+            } else {
+                test = 0;
+                myTTS.speakf("SGood job!\r");
+                myTTS.ready(); //ready waits for speech to finish from last command with a ":" response
+            }
+        }
+
+        if (type == 0) {
+            int reset = 1;
+            myTTS.speakf("SNow reset by pressing down all the buttons.\r");
+            myTTS.ready(); //ready waits for speech to finish from last command with a ":" response
+            while(reset == 1) {
+                char* braille;
+                sprintf(braille, "%d%d%d%d%d%d", button1.getPress(), button2.getPress(),
+                        button3.getPress(), button4.getPress(), button5.getPress(), button6.getPress());
+                userinput = buttonarr.checkVal(braille);
+                if(userinput == 'Z') {
+                    reset = 0;
+                } else {
+                    wait(2);
+                    myTTS.speakf("SPlease try again.\r");
+                    myTTS.ready(); //ready waits for speech to finish from last command with a ":" response
+                }
+            }
+        }
+    }
+
+// MAIN THREAD
+    while(true) {
+
+        Thread::wait(500); // wait till thread is done
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-rtos.lib	Mon Dec 04 19:58:40 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed-rtos/#58563e6cba1e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Dec 04 19:58:40 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/ef9c61f8c49f
\ No newline at end of file